walking with short steps and the weight tilting from one foot to the other

Ducks walk with a waddle.

source: WordNet 3.0

verb

walk unsteadily

Small children toddle.

source: WordNet 3.0

To walk with short steps, swaying the body from one side to the other, like a duck or very fat person; to move clumsily and totteringly along; to toddle; to stumble; as, a child waddles when he begins to walk; a goose waddles.